Which MRPT libs do I need?

This is quite easy: for each C++ class you want to use, find it in the Doxygen API reference (list of all classes) and see the small annotation in the top-left corner of the page, just below the name of the class:

That is the “module” to which the class belongs (see the list of all modules). Many MRPT libraries comprise just one “module”, and they are directly recognized by the name of its module: “mrpt-*“.

For the rest of modules, just click on its name to see to which MRPT library it belongs.